Home Sharing is operated through the Computers app on Apple TV, same as before. In the Computers app, content is segmented by media type in the tabs at the top: Movies, TV Shows, Music, Photos, and More (= Home Videos, Podcasts, and Audiobooks). Go to More﹥Home Videos to see the home videos in the shared library.
You can add home videos to the shared library using the Library tab of the Apple TV app (drag-and-drop), when running macOS Catalina without iTunes on your Mac.
Use Home Sharing to share media from a computer to other devices - Apple Support